CN111618857A - 一种机械臂的多负载自适应重力补偿方法 - Google Patents
一种机械臂的多负载自适应重力补偿方法 Download PDFInfo
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- CN111618857A CN111618857A CN202010466099.XA CN202010466099A CN111618857A CN 111618857 A CN111618857 A CN 111618857A CN 202010466099 A CN202010466099 A CN 202010466099A CN 111618857 A CN111618857 A CN 111618857A
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- Prior art keywords
- tool
- mechanical arm
- load
- gravity
- gravity compensation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (5)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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CN202010466099.XA CN111618857B (zh) | 2020-05-28 | 2020-05-28 | 一种机械臂的多负载自适应重力补偿方法 |
JP2022569139A JP7437081B2 (ja) | 2020-05-28 | 2020-10-28 | ロボットアームの多負荷適応重力補償法、装置及び制御デバイス |
KR1020227042228A KR20230003233A (ko) | 2020-05-28 | 2020-10-28 | 매니퓰레이터의 다중 하중 적응 중력 보상 방법, 장치 및 제어 장치 |
PCT/CN2020/124400 WO2021238049A1 (zh) | 2020-05-28 | 2020-10-28 | 机械臂的多负载自适应重力补偿方法、装置及控制设备 |
Applications Claiming Priority (1)
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CN202010466099.XA CN111618857B (zh) | 2020-05-28 | 2020-05-28 | 一种机械臂的多负载自适应重力补偿方法 |
Publications (2)
Publication Number | Publication Date |
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CN111618857A true CN111618857A (zh) | 2020-09-04 |
CN111618857B CN111618857B (zh) | 2021-04-20 |
Family
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Family Applications (1)
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CN202010466099.XA Active CN111618857B (zh) | 2020-05-28 | 2020-05-28 | 一种机械臂的多负载自适应重力补偿方法 |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP7437081B2 (zh) |
KR (1) | KR20230003233A (zh) |
CN (1) | CN111618857B (zh) |
WO (1) | WO2021238049A1 (zh) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112140111A (zh) * | 2020-09-24 | 2020-12-29 | 珠海格力智能装备有限公司 | 机器人的末端负载质心的确定方法 |
WO2021238049A1 (zh) * | 2020-05-28 | 2021-12-02 | 杭州键嘉机器人有限公司 | 机械臂的多负载自适应重力补偿方法、装置及控制设备 |
CN113768626A (zh) * | 2020-09-25 | 2021-12-10 | 武汉联影智融医疗科技有限公司 | 手术机器人控制方法、计算机设备及手术机器人系统 |
WO2022227536A1 (zh) * | 2021-04-26 | 2022-11-03 | 深圳市优必选科技股份有限公司 | 一种机械臂控制方法、装置、机械臂和可读存储介质 |
US11832910B1 (en) * | 2023-01-09 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having adaptive gravity compensation |
US11980431B2 (en) | 2021-03-31 | 2024-05-14 | Moon Surgical Sas | Co-manipulation surgical system for use with surgical instruments having a virtual map display to facilitate setup |
US11986165B1 (en) | 2023-01-09 | 2024-05-21 | Moon Surgical Sas | Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114750148B (zh) * | 2022-03-17 | 2024-05-17 | 广东工业大学 | 一种重力自适应测量的力闭环零力控制方法及系统 |
CN115561004B (zh) * | 2022-10-21 | 2023-04-18 | 哈尔滨工业大学 | 空间多分支机器人地面试验平台及试验方法 |
CN115778752A (zh) * | 2022-11-24 | 2023-03-14 | 浙江工业大学 | 一种用于坐卧式康复机器人中可抑制抖动的零力控制方法 |
CN115816461B (zh) * | 2022-12-26 | 2023-10-24 | 睿尔曼智能科技(北京)有限公司 | 一种机械臂负载质心范围计算与负载曲线图绘制方法 |
CN116442240B (zh) * | 2023-05-26 | 2023-11-14 | 中山大学 | 一种基于高通滤波解耦的机器人零力控制方法及装置 |
CN116901087B (zh) * | 2023-09-13 | 2023-11-17 | 真健康(北京)医疗科技有限公司 | 一种穿刺手术机器人末端力和力矩的确定方法及设备 |
CN116922399B (zh) * | 2023-09-15 | 2023-11-24 | 季华实验室 | 机械臂重力补偿方法、装置、电子设备及存储介质 |
Citations (5)
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WO1997040435A3 (en) * | 1996-04-19 | 1998-01-08 | Massachusetts Inst Technology | Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof |
WO2009088828A1 (en) * | 2007-12-31 | 2009-07-16 | Abb Research Ltd. | Method and apparatus using a force sensor to provide load compensation for a robot |
CN104626152A (zh) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | 工业机器人主动柔顺控制方法及装置 |
CN110103229A (zh) * | 2019-06-06 | 2019-08-09 | 上海电气集团股份有限公司 | 设于机器人末端的工具的重力补偿方法和系统 |
CN110666794A (zh) * | 2019-09-25 | 2020-01-10 | 天津大学 | 多自由度协作机器人拖动的末端负载力补偿方法 |
Family Cites Families (9)
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SE9700767D0 (sv) | 1997-03-04 | 1997-03-04 | Asea Brown Boveri | Förfarande för bestämning av lastparametrar hos en industrirobot |
DE102008001664B4 (de) | 2008-05-08 | 2015-07-30 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Medizinischer Roboter und Verfahren zur Erfüllung der Performanceanforderung eines medizinischen Roboters |
CN206216738U (zh) * | 2016-10-17 | 2017-06-06 | 华南理工大学 | 一种六自由度机器人末端负载动力学参数辨识装置 |
CN109746913B (zh) * | 2018-12-29 | 2022-03-15 | 深圳市大象机器人科技有限公司 | 一种机器人姿势保持拖动示教的方法及系统 |
CN109676607B (zh) * | 2018-12-30 | 2021-10-29 | 江苏集萃智能制造技术研究所有限公司 | 一种无力矩传感的零重力控制方法 |
CN110193829B (zh) * | 2019-04-24 | 2020-04-07 | 南京航空航天大学 | 一种耦合运动学与刚度参数辨识的机器人精度控制方法 |
CN110549333B (zh) * | 2019-08-06 | 2022-03-29 | 天津大学 | 一种用于TriMule卧式混联机器人的重力补偿方法 |
CN110561438B (zh) * | 2019-09-19 | 2021-02-05 | 华中科技大学 | 基于动力学参数辨识的工业机器人力/位柔顺控制方法 |
CN111618857B (zh) * | 2020-05-28 | 2021-04-20 | 杭州键嘉机器人有限公司 | 一种机械臂的多负载自适应重力补偿方法 |
-
2020
- 2020-05-28 CN CN202010466099.XA patent/CN111618857B/zh active Active
- 2020-10-28 KR KR1020227042228A patent/KR20230003233A/ko unknown
- 2020-10-28 WO PCT/CN2020/124400 patent/WO2021238049A1/zh active Application Filing
- 2020-10-28 JP JP2022569139A patent/JP7437081B2/ja active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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WO1997040435A3 (en) * | 1996-04-19 | 1998-01-08 | Massachusetts Inst Technology | Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof |
WO2009088828A1 (en) * | 2007-12-31 | 2009-07-16 | Abb Research Ltd. | Method and apparatus using a force sensor to provide load compensation for a robot |
CN104626152A (zh) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | 工业机器人主动柔顺控制方法及装置 |
CN110103229A (zh) * | 2019-06-06 | 2019-08-09 | 上海电气集团股份有限公司 | 设于机器人末端的工具的重力补偿方法和系统 |
CN110666794A (zh) * | 2019-09-25 | 2020-01-10 | 天津大学 | 多自由度协作机器人拖动的末端负载力补偿方法 |
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Title |
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CHE HOU, YIWEN ZHAO: "Gravity Compensation of KUKA LBR IIWA through Fast Robot Interface", 《2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER)》 * |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021238049A1 (zh) * | 2020-05-28 | 2021-12-02 | 杭州键嘉机器人有限公司 | 机械臂的多负载自适应重力补偿方法、装置及控制设备 |
CN112140111A (zh) * | 2020-09-24 | 2020-12-29 | 珠海格力智能装备有限公司 | 机器人的末端负载质心的确定方法 |
CN113768626A (zh) * | 2020-09-25 | 2021-12-10 | 武汉联影智融医疗科技有限公司 | 手术机器人控制方法、计算机设备及手术机器人系统 |
CN113768626B (zh) * | 2020-09-25 | 2024-03-22 | 武汉联影智融医疗科技有限公司 | 手术机器人控制方法、计算机设备及手术机器人系统 |
US11980431B2 (en) | 2021-03-31 | 2024-05-14 | Moon Surgical Sas | Co-manipulation surgical system for use with surgical instruments having a virtual map display to facilitate setup |
WO2022227536A1 (zh) * | 2021-04-26 | 2022-11-03 | 深圳市优必选科技股份有限公司 | 一种机械臂控制方法、装置、机械臂和可读存储介质 |
US11832910B1 (en) * | 2023-01-09 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having adaptive gravity compensation |
US11986165B1 (en) | 2023-01-09 | 2024-05-21 | Moon Surgical Sas | Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force |
Also Published As
Publication number | Publication date |
---|---|
JP7437081B2 (ja) | 2024-02-22 |
WO2021238049A1 (zh) | 2021-12-02 |
KR20230003233A (ko) | 2023-01-05 |
CN111618857B (zh) | 2021-04-20 |
JP2023524897A (ja) | 2023-06-13 |
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Effective date of registration: 20210323 Address after: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Applicant after: HANGZHOU JIANJIA ROBOT Co.,Ltd. Address before: No.4, Lane 5, Shuidou Xinwei village, Gongye East Road, Longhua District, Shenzhen City, Guangdong Province Applicant before: Gan Bohan |
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Address after: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Jianjia Medical Technology Co.,Ltd. Address before: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU JIANJIA ROBOT Co.,Ltd. |